Kinematics Analysis And Gait Design Of A Parallel Leg Hexapod Walking Robot

With the continuous development of science and technology,the application range of robots is becoming wider and wider.Parallel leg walking robots have become an important topic in the field of robots and have developed rapidly in the past decade.The research object of this paper is a new type of parallel leg hexapod walking robot.Its main feature is the 6-SPS parallel mechanism of the leg mechanism.During the walking process,the center of gravity of the leg mechanism changes little,the movement is stable and can withstand Heavy load,and can complete difficult movements such as crossing obstacles and going up stairs.Firstly,the 6-SPS parallel mechanism is briefly introduced,and its degree of freedom is analyzed and calculated by the spiral theory.Based on this,the whole structure of the parallel leg hexapod walking robot was determined,and the functions of the main components were explained.The experimental prototype was manufactured.Secondly,taking the 6-SPS parallel mechanism of the robot's leg as the research object,the kinematic inverse equation of the mechanism is derived through the space vector relationship of the upper and lower platforms,and three kinds of kinematics forward solution algorithm of the parallel mechanism are introduced.The three methods are used to solve the example model of this paper respectively,and the calculation results of the algorithm are compared and analyzed.Then the boundary search method and the branch parameter combination method are used to obtain the fixed attitude working space and the extreme working space of the parallel mechanism respectively.The accuracy of the extreme working space is verified by the Trajectory method.Finally,the gait design of the robot was carried out.The designed gait was simulated and analyzed by ADAMS software,and the experiment was carried out on the prototype.The displacement curves of each electric cylinder in the simulation and experiment were obtained.The results show that the parallel leg hexapod walking robot can walk stably according to the designed gait.